US11338857B2ActiveUtilityA1
Apparatus and method for estimating a slope angle of a road
Est. expirySep 9, 2039(~13.1 yrs left)· nominal 20-yr term from priority
B60W 40/076B60W 2540/18B60W 2520/10B62D 15/025B60W 2530/10B60W 2540/10B60W 2540/12B60W 2050/0052B60W 40/09B60W 2556/10B60W 2050/0031B60W 2050/0022B62D 15/029B60W 2510/182B60W 40/107B60W 2520/105B60W 2552/15B60W 30/182B60W 40/105B60W 2520/06
57
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Cited by
5
References
11
Claims
Abstract
An apparatus and a method are configured for estimating a slope angle of a road. The slope angle of a road is estimated based on a longitudinal slope angle of the road which is calculated based on a Kinematic model, an effective weight corresponding to a control amount of a driver and a filter constant to estimate the slope angle of the road with higher precision in the case of a U-turn, rapid acceleration, or rapid deceleration in which a longitudinal acceleration of the vehicle is remarkably increased. The apparatus includes a controller to estimate the slope angle of the road, based on a longitudinal slope angle of the road which is calculated based on a Kinematic model, an effective weight corresponding to a control amount of a driver and a filter constant, and an output device to output the estimated slope angle of the road.
Claims
exact text as granted — not AI-modifiedWhat is claimed is:
1. An apparatus for estimating a slope angle of a road, the apparatus comprising:
a controller configured to estimate the slope angle of the road, based on a longitudinal slope angle of the road, which is calculated based on a Kinematic model, an effective weight corresponding to a control amount of a driver and a filter constant; and
an output device configured to output the estimated slope angle of the road and provide the estimated slope angle to control systems in a vehicle to control the vehicle,
wherein the control amount of the driver includes at least one of an Accel Pedal Sensor (APS) value, a pressure value of a master cylinder, a steering angle of the vehicle, and/or a steering angular speed of the vehicle, and
wherein the controller is configured to:
calculate, as an effective value, the minimum value among a lateral steering weight based on the steering angle and the steering angular speed of the vehicle, a longitudinal acceleration weight based on the APS value, and a longitudinal deceleration weight based on the pressure value of the master cylinder.
2. The apparatus of claim 1 , wherein the controller is configured to:
estimate a road slope angle at a present time point using a road slope angle estimated at a previous time point and a road slope angle calculated at the present time point.
3. The apparatus of claim 2 , wherein the controller is configured to:
estimate the road slope angle estimated at the previous time point, as the road slope angle at the present time point, when the effective weight is the minimum value; and
estimate the road slope angle at the present time point by reflecting the road slope angle estimated at the previous time point more than the road slope angle calculated at the present time point when the effective weight is not the minimum value.
4. The apparatus of claim 3 , wherein the controller is configured to:
estimate the road slope angle at the present time point based on following Equation A,
{circumflex over (θ)} slope,n =(1− K ){circumflex over (θ)} slope,n-1 +Kθ slope Equation A
in which {circumflex over (θ)} slope,n denotes the road slope angle estimated at the present time point, {circumflex over (θ)} slope,n-1 denotes the road slope angle estimated at the previous time point, θ slope denotes the road slope angle calculated at the present time point, and K denotes the final weight.
5. The apparatus of claim 1 , wherein the lateral steering weight is a lateral steering weight corresponding to a lateral factor (L factor ) based on the angle and the steering angular speed of the vehicle,
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in which l f denotes a distance between a center of gravity of the vehicle and a front wheel, l r denotes a distance between the center of gravity of the vehicle and a rear wheel, C f denotes a front axle cornering stiffness, C r denotes a rear axle cornering stiffness, m denotes a total mass of the vehicle, V x denotes a longitudinal speed of the vehicle, δ f denotes the steering angle of the vehicle, and {dot over (δ)} f denotes the steering angle speed of the vehicle, respectively.
6. The apparatus of claim 5 , further comprising:
a storage configured to store C f , C r , l f , l r , and m;
a longitudinal speed sensor configured to measure a longitudinal speed (V x ) of the vehicle;
a steering angle sensor configured to measure the steering angle (δ f ) of the vehicle; and
a steering angular speed sensor configured to measure the steering angular speed (δ f ) of the vehicle.
7. A method for estimating a slope angle of a road, the method comprising:
estimating the slope angle of the road, based on a longitudinal slope angle of the road, which is calculated based on a Kinematic model, an effective weight corresponding to a control amount of a driver and a filter constant;
outputting the estimated slope angle of the road; and
controlling a vehicle based on the estimated slope angle of the road,
wherein the control amount of the driver includes at least one of an Accel Pedal Sensor (APS) value, a pressure value of a master cylinder, a steering angle of the vehicle, and/or a steering angular speed of the vehicle, and
wherein the estimating of the slope angle of the road includes:
calculating, as an effective value, the minimum value among a lateral steering weight based on the steering angle and the steering angular speed of the vehicle, a longitudinal acceleration weight based on the APS value, and a longitudinal deceleration weight based on the pressure value of the master cylinder.
8. The method of claim 7 , wherein the estimating of the slope angle of the road includes:
estimating a road slope angle at a present time point using a road slope angle estimated at a previous time point and a road slope angle calculated at the present time point.
9. The method of claim 8 , wherein the estimating of the road slope angle at the present time point includes:
estimating the road slope angle estimated at the previous time point, as the road slope angle at the present time point, when the effective weight is the minimum value, and
estimating the road slope angle at the present time point by reflecting the road slope angle estimated at the previous time point more than the road slope angle calculated at the present time point when the effective weight is not the minimum value.
10. The method of claim 9 , wherein the estimating of the road slope angle at the present time point includes:
estimating the road slope angle at the present time point based on following Equation A,
{circumflex over (θ)} slope,n =(1− K ){circumflex over (θ)} slope,n-1 +Kθ slope Equation A
in which {circumflex over (θ)} slope,n denotes the road slope angle estimated at the present time point, {circumflex over (θ)} slope,n-1 denotes the road slope angle estimated at the previous time point, θ slope denotes the road slope angle calculated at the present time point, and K denotes the final weight.
11. The method of claim 7 , wherein the lateral steering weight is a lateral steering weight corresponding to a lateral factor (L factor ) based on the steering angle and the steering angular speed of the vehicle,
L
f
a
c
t
o
r
=
1
(
l
f
+
l
r
)
2
C
f
C
r
+
m
V
x
2
(
l
r
C
r
-
l
f
C
f
)
×
{
(
l
f
+
l
r
)
C
f
C
r
V
x
δ
f
+
C
f
l
f
m
V
x
2
δ
.
f
}
in which l f denotes a distance between a center of gravity of the vehicle and a front wheel, l r denotes a distance between the center of gravity of the vehicle and a rear wheel, C f denotes a front axle cornering stiffness, C r denotes a rear axle cornering stiffness, m denotes a total mass of the vehicle, V x denotes a longitudinal speed of the vehicle, δ f denotes the steering angle of the vehicle, and {dot over (δ)} f denotes the steering angle speed of the vehicle, respectively.Join the waitlist — get patent alerts
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